User’s Manual INNOMAR Parametric Sub-Bottom Profilers / SESWIN 215
Innomar Technologie GmbH (2023-01) 215
A.19 Motion Sensor Data Formats
There are several motion sensor data formats supported by the INNOMAR sub-bottom profilers. A
short description of the different data format settings is given below.
Some protocols use other orientation conventions than the INNOMAR SBPs:
heave positive going down (± 15 m),
roll positive port up (± 90°),
pitch positive bow up (± 90°),
heading positive clockwise (0.00 ... 359.99 degrees)
In this case the received sensor values are converted internally to match the INNOMAR con-
ventions. Received values exceeding the limits given above are considered invalid.
!
Many INNOMAR SBP models use the motion data for real-time beam forming and need
them without delay. Generally, use the fastest protocols, such as the TSS or
EM1000/3000 formats sent at a high baud rate (e.g. 115200). Motion data update rate
should be higher than the SBP ping rate, the short protocols work at 100 Hz and above.
The Innomar SBPs support several motion data protocols, which are organized in three groups:
Kongsberg Simrad
o EM-1000
o EM-3000
Teledyne TSS
o TSS1
o TSS2
o TSS3
o TSS HHRP2
o TSS Binary (experimental)
iXblue Octans
o NAVBHO ($PASHR)
o Octans Standard 1
Kongsberg Simrad EM-1000 / EM-3000
Binary protocol, fixed length (10 bytes).
Byte #
0 1
1234567890
Format
QTRRPPHHhh
Description Range Units
Q Sensor status 00h EM1000: (fix value, no sensor status)
90h EM3000: valid data, full accuracy
91h ... 99h EM3000: valid data, reduced accuracy
9Ah ... 9Fh EM3000: instable data
T Fixed token 90h
RR Roll angle ±179.99° (positive port up) 0.01 °
PP Pitch angle ±179.99° (positive bow up) 0.01 °
HH Heave ±99.99m (positive going up) 1 cm
hh Heading 0° … 359.99° (positive clockwise) 0.01 °
Notes: All values in 2’complement 16-bit integer format (LSB first).
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